#ifndef MONITOR_TASK_H
#define MONITOR_TASK_H

#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

typedef struct
{
  uint16_t dbus;
  uint16_t chassis[4];
  uint16_t yaw;
	uint16_t pitch_l;
	uint16_t pitch_r;
  uint16_t trans;
	uint16_t fric_l;
	uint16_t fric_r;
	uint16_t chas_imu;//the imu in the chassis
	uint16_t yaw_imu;//the imu on the shootor
	uint16_t pitch_imu;//the imu on the shootor
	uint16_t board_imu;//the imu in stm32f427IIHx typeA
	uint16_t judge;
	uint16_t nuc;
	uint16_t cnt1;
	uint16_t cnt2;
	uint16_t cap_board;
	uint16_t pc;
	uint16_t usart_print;
} OFFLINE_COUNT_STRUCT;

uint8_t isProcessOn(void);

#endif

